Article conveying equipment

ABSTRACT

An article conveying equipment includes: a carrying apparatus (1), configured to carry one or more articles to be transported; a communication apparatus (3), configured to learn a height of a receiving end of a transferring apparatus matched with the article conveying equipment; and a height adjusting apparatus (2), when the article conveying equipment approaches the transferring apparatus, the height adjusting apparatus is configured to adjust the height of the carrying apparatus to the height matched with receiving end of the transferring apparatus.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a United States National Stage Application ofco-pending International Patent Application Number PCT/CN2018/098241,filed on Aug. 2, 2018, which claims priority to Chinese patentapplication No. 201710927735.2, entitled “Mobile Equipment for ConveyingArticle” and filed on Sep. 30, 2017, and to Chinese patent applicationNo. 201710927756.4, entitled “Height-adaptive Article ConveyingEquipment” and filed on Sep. 30, 2017, the contents of which areincorporated herein by reference in their entireties.

TECHNICAL FIELD

The present disclosure relates to the field of intelligent logistics,for example, to an article conveying equipment.

BACKGROUND

The rapid development of e-commerce has brought unprecedenteddevelopment opportunities to the express delivery industry, but alsopresented severe challenges to express delivery services. How toefficiently, flexibly and accurately sort parcels with low costs hasalways been a difficult problem for this industry. The traditionalmanual matrix sorting mainly faces problems of low efficiency, higherror rate, heavy labor intensity, the difficult employee recruitmentand difficult management. In recent years, the vigorous development ofrobot technology has brought huge technological changes to the entirelogistics industry, and brought new technologies and new design conceptsto the sorting industry. In an express robot sorting system, an operatorplaces the parcel on a robot carrying apparatus at a feeder, and therobot carries the parcel to the location of a steel article-fallinglattice mouth to convey the parcel to the article-falling lattice mouthto complete the parcel sorting task. The above-mentioned parcel sortingrobot system greatly improves the sorting efficiency compared with thetraditional manual sorting manner, has the advantages of low cost andhigh flexibility compared with the traditional automatic method such asthe cross-belt sorter, and thus has been widely concerned and rapidlypopularized in the industry.

SUMMARY

The present disclosure provides an article conveying equipment, which atleast partially solves the problem of fragile goods damaged because of aheight difference after an express robot conveys the goods to areceiving end.

An article conveying equipment includes: a carrying apparatus,configured to carry one or more articles to be transported; acommunication apparatus, configured to learn a height of a receiving endof a transferring apparatus matched with the article conveyingequipment; and a height adjusting apparatus, when the article conveyingequipment approaches the transferring apparatus, the height adjustingapparatus is configured to adjust a height of the carrying apparatus toa height matched with the receiving end of the transferring apparatus.

In an embodiment, the article to be transported is provided with pathinformation, the article conveying equipment further includes aconveying information acquisition apparatus configured to acquire thepath information of the article to be transported. Alternatively, thearticle conveying equipment is configured to acquire the pathinformation of the article to be transported by inquiry a server, thepath information of the article to be transported is acquired by theconveying information acquisition apparatus on a feeding end andtransmit to the server.

In an embodiment, the transferring apparatus is provided with anidentity (ID) label matched with the path information of the article tobe transported.

In an embodiment, the article conveying equipment is configured toacquire the path information of the article being conveyed in a currenttask, and determine the transferring apparatus matched with the currenttask based on the path information of the article being conveyed in thecurrent task.

In an embodiment, the communication apparatus is further configured tobe communicatively connected to a scheduling server, and acquire andlearn height information of the receiving end of the transferringapparatus by the scheduling server.

Alternatively, a height database is disposed inside the communicationapparatus, and the communication apparatus is configured to acquire andlearn the height information of the receiving end of the transferringapparatus by inquiring the height database.

In an embodiment, the communication apparatus is further configured toacquire travelling information of other article conveying equipments bythe scheduling server, and determine, based on the travellinginformation, whether or not to adjust a travelling route of the articleconveying equipment.

In an embodiment, the article conveying equipment is configured toacquire electric quantity information of the article conveyingequipment, and report the remaining electric quantity information to thescheduling server when remaining electric quantity of the articleconveying equipment meets a preset condition.

In an embodiment, the article conveying equipment is further configuredto receive a charging instruction from the scheduling server, and thearticle conveying equipment moves, based on the scheduling server, to apreset area to get charged.

In an embodiment, the article conveying equipment is further configuredto detect a fault status of the article conveying equipment, and reportfault information of the article conveying equipment to the schedulingserver.

In an embodiment, the article conveying equipment is configured to benavigated by identifying a combination of graphics.

In an embodiment, the carrying apparatus is disposed with an articletransporting apparatus on which the article to be transported islocated, the article transporting apparatus is configured to transportthe article to be transported to a designated destination.

In an embodiment, the article transporting apparatus includes any one ofa conveyer belt, a roller, a cross belt and a turning panel.

An article conveying equipment includes: a carrying apparatus,configured to carry one or more articles to be transported; a travellingapparatus, comprising at least two driving wheels located at the bottomof the travelling apparatus, the at least two driving wheels control thetravelling apparatus to rotate in a first rotation direction; and arotation supporting apparatus, which is located between the carryingapparatus and the travelling apparatus, and is connected to the carryingapparatus and the travelling apparatus respectively, the rotationsupporting apparatus is configured to rotate in a direction opposite tothe first rotation direction when the travelling apparatus rotates inthe first rotation direction.

In an embodiment, when the travelling apparatus rotates in the firstrotation direction, the rotation supporting apparatus is configured torotate at a same speed in the direction opposite to the first rotationdirection.

In an embodiment, the carrying apparatus is provided with a first recessportion at which the rotation supporting apparatus is mounted.

In an embodiment, the carrying apparatus is provided with a secondrecess portion at which the rotation supporting apparatus is mounted.

In an embodiment, the carrying apparatus is provided with an articletransporting apparatus on which an article to be transported is located,the article transporting apparatus is configured to transport thearticle to be transported to a designated destination.

In an embodiment, the article transporting apparatus includes any one ofa conveyer belt, a roller, a cross belt or a turning panel.

In an embodiment, the carrying apparatus is further provided with asensing apparatus, which is configured to measure a position of thearticle to be transported on the carrying apparatus.

In an embodiment, based on position data of the article to betransported on the carrying apparatus measured by the sensing apparatus,the carrying apparatus controls the article transporting apparatus tomove the article to be transported to a central position of the carryingapparatus.

In an embodiment, a total number of driving wheels of the travellingapparatus is two.

In an embodiment, the travelling apparatus is configured to control thetwo driving wheels to operate at a same speed in a same direction, sothat the article transporting apparatus moves in straight linedirection.

In an embodiment, the travelling apparatus is further configured tocontrol the two driving wheels to run at a same speed in an oppositedirection, so that the article transporting apparatus rotates in place.

In an embodiment, the rotation supporting apparatus further includes aretractable support rod, which is configured to control a height of thecarrying apparatus.

In an embodiment, a projection of the travelling apparatus in a verticaldirection is within the projection of the carrying apparatus in thevertical direction.

In an embodiment, a projection of the rotation supporting apparatus in avertical direction is within the projection of the carrying apparatus inthe vertical direction.

In an embodiment, a projection of the rotation supporting apparatus in avertical direction is within the projection of the travelling apparatusin the vertical direction.

The article conveying equipment provided by the present disclosurelearns the height of a receiving end of a transferring apparatus matchedwith the article conveying equipment by a communication apparatus. Whenthe article conveying equipment approaches the transferring apparatus,the height adjusting apparatus adjusts the height of the carryingapparatus to the height matched with receiving end. In this case, heightinformation of other article receiving ends can be learned. Whenapproaching the receiving end, the height of the carrying apparatus isadjusted to the height matched with receiving end, so that the articleshave a stable barycenter during delivery. A sufficient height isprovided when the goods is transported to the receiving end,guaranteeing the automation of the article delivery and improving theefficiency of the article delivery.

The article conveying equipment provided by the present disclosure addsa rotation supporting apparatus between a travelling apparatus and acarrying apparatus of the equipment, so that the equipment may freelyturn and move by the rotation of the device chassis while guaranteeingthat the carrying apparatus and the parcel keep still. When the articleconveying equipment rotates in situ, an article holding platform andparcel can remain still as long as the rotation supporting apparatus iscontrolled to rotate at the same angular speed in an opposite direction,thereby greatly improving the transport efficiency of the articleconveying equipment.

BRIEF DESCRIPTION OF DRAWINGS

The drawings used in the embodiments will be described below.

FIG. 1 is a structural diagram of an article conveying equipmentaccording to an embodiment;

FIG. 2 is a structural diagram of a transferring apparatus according toan embodiment;

FIG. 3 is a schematic diagram illustrating that an article conveyingequipment conveys an article to a transferring apparatus according to anembodiment; and

FIG. 4 is a schematic diagram illustrating a parcel robot operating in amesh in the existing art; and

FIG. 5 is a structural diagram of an article conveying equipmentaccording to another embodiment.

DETAILED DESCRIPTION

A description of the embodiments of the present disclosure will be givenbelow with reference to the drawings.

After an express robot obtains a parcel to be transferred, usually theparcel needs to be conveyed automatically into a corresponding receivingcontainer. In practical operation, due to different applicationscenarios, the height of a receiving container receiving the parcel isdifferent. Therefore, the express robot cannot automatically unload theparcels when the parcels are conveyed to the destination. For example,if a receiving end of the receiving container is too low, fragile goodsmay be damaged because of a height difference when the express robotconveys the parcels to the receiving end of the receiving container.

FIG. 1 is an article conveying equipment provided by this embodiment.The article conveying equipment includes a carrying apparatus 1, aheight adjusting apparatus 2 and a communication apparatus 3.

The carrying apparatus 1 is configured to carry one or more articles tobe transported. The article to be transported may be a parcel or otherarticles to be transported. The carrying apparatus 1 is a commonapparatus with a holding structure. When the article conveying equipmentarrives at an article sending end (such as a feeding end that sends thearticle), the article may be placed on the carrying apparatus 1 in amanual way, or the article to be transported, such as an article to besorted, may be automatically placed by an automatic loading device (suchas a manipulator) at the feeding end.

According to different conveying tasks, the carrying apparatus iscapable of receiving one or more articles to be transported. Thedestinations of the one or more articles to be transported may be thesame or different. When the delivery destinations are the same, thecarrying apparatus may transport the article to be transported to anarticle receiving end (such as a conveyor belt and a cage trolley) atone time or in batches. When the delivery destinations are different,the carrying apparatus may release a corresponding article to betransported at article receiving ends representing differentdestinations, which can make full use of the space of the carryingapparatus and improve the efficiency of the article conveying equipment.In an embodiment, the article conveying equipment may be a parceldelivery robot, and may also be other devices having the same or similarfunctions.

In an embodiment, after the carrying apparatus receives the article, thecommunication apparatus 3 may learn article information of the articleto be transported. The article information includes a deliverydestination of the article to be transported (such as Beijing Haidiandistrict) and the type of the article to be transported (such as a bookor fragile goods). After learning the article information, thecommunication apparatus 3 may obtain information of the transferringapparatus (such as a conveyor belt, a conveyor elevator and a cagetrolley) corresponding to the article to be transported by inquiring aserver. By inquiring the information of the transferring apparatus, aheight of the receiving end of the transferring apparatus matched withthe article conveying equipment is inquired. On one hand, the height ofthe receiving end of the transferring apparatus matched with the articleconveying equipment may be issued by the server. On the other hand, aheight database may exist inside the communication apparatus 3, and thecommunication apparatus 3 learns height information of the receiving endof the transferring apparatus by inquiring the height database.

When the article conveying equipment approaches the transferringapparatus, the height adjusting apparatus 2 adjusts the height of thecarrying apparatus 1 so that the height of the carrying apparatus 1 ismatched with the height of the receiving end. The height adjustingapparatus 2 may be a common hydraulic lifting apparatus, may also be acommon helical lifting apparatus, and may also be other common liftingapparatuses.

To determine a transport destination of the article to be sorted, atransport label usually is disposed on the article to be sorted forstoring the delivery information. The transport label may be atwo-dimensional code, a radio frequency identification devices (RFID)label or the like. The delivery information of the article to be sortedat least includes information about the transport destination of thearticle (such as Guangzhou, Shanghai or Shenyang), and may also includeother information.

To identify the delivery information of the article to be sortedquickly, the feeding end may include a conveying information acquisitionapparatus for identifying the transport label on the article to besorted. The conveying information acquisition apparatus may be a camera.The camera acquires label information, such as the two-dimensional codeof the article to be sorted, thereby obtaining the delivery informationof the article to be sorted. In addition, the conveying informationacquisition apparatus may also be a RFID card reader. The RFID cardreader reads RFID label information on the article to be sorted, therebyobtaining the delivery information of the article to be sorted.

In an embodiment, the article to be transported is provided with pathinformation. The article conveying equipment can acquire, by inquiringthe server, the path information obtained by the conveying informationacquisition apparatus, or may also integrate the conveying informationacquisition apparatus into the article conveying equipment, therebyobtaining relevant information.

In an embodiment, the transferring apparatus is provided with anidentify (ID) label. The ID is matched with the path information of thearticle to be transported. Referring to FIG. 2, the transferringapparatus includes multiple conveyor belts 21, 22 and 23. Each conveyorbelt conveys the goods to a receiving container with different pathafter lifting the goods to a certain height. In addition to liftingconveyor belts shown in FIG. 2, the conveyor belt may also be a planeconveyor belt, or a conveyor belt conveying the goods to a lowerposition. The bottom of each conveyor belt is provided with a receivingend 212, 222 and 232. The height of the receiving end may be the same ordifferent. The height value of the receiving end of the conveyor beltwith different number is stored in the server. In addition to the caseshown in FIG. 2, the transferring apparatus may also be an articlereceiving apparatus (such as the cage trolley) with a certain height asshown in FIG. 3. In this case, the edge of the article receivingapparatus forms the receiving end.

In an embodiment, the server invokes the article conveying equipment inthe way of tasks. The article conveying equipment acquires the pathinformation of the article to be transported in the current task, anddetermines, based on the path information of the article to betransported in the current task, the transferring apparatus matched withthe current task.

The server mentioned in the above embodiment may be a scheduling serveror other types of servers. In an embodiment, the communication apparatus3 is further configured to be communicatively connected to thescheduling server and acquire information of the transferring apparatusby the scheduling server.

In an embodiment, the communication apparatus 3 is further configured toacquire travelling information of other article conveying equipments bythe scheduling server, and determine, based on the travellinginformation, whether or not to adjust a travelling route of the articleconveying equipment. The process of determining whether or not to adjustthe operation route of the article conveying equipment may be performedat a server end or at an article conveying equipment end.

To facilitate the operation of the article conveying equipment,optionally, the article conveying equipment is provided with a batteryinside. In this case, the article conveying equipment can complete thetransport task by its own energy. The article conveying equipmentmonitors a remaining electric quantity of the battery in real time. Whenthe remaining electric quantity of the article conveying equipmentreaches to a certain threshold value, the article conveying equipment isautomatically controlled to go to a preset area to be charged. Inaddition, the article conveying equipment can acquire electric quantityinformation of the article conveying equipment. When the remainingelectric quantity of the article conveying equipment meets a presetcondition, the article conveying equipment reports information aboutremaining electric quantity to the scheduling server, and the schedulingserver comprehensively determines whether to control the articleconveying equipment to go to the preset area to get charged according tomultiple factors such as current electric quantity and a schedulingtask.

In an embodiment, the article conveying equipment is further configuredto receive a charging instruction from the scheduling server, and moveto a preset area to get charged based on the charging instruction.

In an embodiment, the article conveying equipment is further configuredto detect its own fault status, and report its own fault information tothe scheduling server.

In an embodiment, the article conveying equipment is configured to benavigated by identifying a combination of graphics. The combination ofgraphics may be a two-dimensional code or any combination of graphicscomposed of other graphics. The article conveying equipment determinescurrent geographic location information by identifying the combinationof graphics.

In an embodiment, an article transporting apparatus is disposed on thecarrying apparatus 1. For example, the article to be transported islocated on the article transporting apparatus. The article transportingapparatus is configured to transport the article to be transported onthe carrying apparatus 1 to a designated destination. The articletransporting apparatus includes any one of a conveyer belt, a roller, across belt, a turning panel or other apparatuses which can movearticles.

At present, the map of a robot sorting system mostly is composed ofgrids (referring to FIG. 4). To guarantee the robot to rotate freely, amaximum rotation diameter of the robot cannot exceed the size of thegrids of the map. Therefore, the carrying mechanism of the robot isseverely limited by the grids. If the grids are enlarged, the systemefficiency will be costed. If the carrying mechanism of the robot isdesigned into a round edge, the size of the parcel carried also cannotbe enlarged because express parcels mostly are rectangle, thus theproblem cannot be fundamentally solved. Therefore, how to increase thesize of the parcel carried by the robot as much as possible whilekeeping the map unchanged, or how to design the robot to make a basicwalking unit of the robot map smaller and the map more flexible hasbecome the major problem for robot design.

According to the above description, the design of the robot carryingmechanism is limited mainly because the parcel sorting robot needs torotate freely in the map and it is to be guaranteed that no collisionoccurs during the rotation, thereby causing the limitation of carryingthe parcel. This embodiment adds a rotation apparatus between a walkingmechanism and a carrying mechanism of the robot, so that the robot mayfreely turn and walk by the rotation of a chassis of the robot whileguaranteeing that the carrying apparatus and the parcel keep still.Referring to FIG. 5, this embodiment provides an article conveyingequipment, that is, a mobile equipment used for conveying articles. Themobile equipment may be a parcel sorting robot or other types of robotsfor conveying articles. The mobile equipment includes an article holdingplatform 5, a travelling apparatus 6 and a rotation supporting apparatus7.

The article holding platform 5 (such as a carrying apparatus) isconfigured to hold an article (such as an article to be transported)received by the mobile equipment. The article holding platform isconfigured to place the article to be transported such as a parcel. Toguarantee that the article holding platform to efficiently transport thearticle, the form of transporting articles on the article holdingplatform is not limited and the apparatus such as a conveyer belt, aroller, a cross belt, a turning panel or a propelling apparatus may beadopted to transport the article. For example, when the conveyer belt,the roller or the cross belt is adopted, the position of the parcel maybe acquired by measurement information of a sensor and the parcel isautomatically adjusted by controlling the conveyer belt, the roller orthe cross belt, so that a central position of the parcel is placed at acenter of the article holding platform.

The travelling apparatus 6 includes at least two driving wheels 61located at the bottom of the travelling apparatus 6. The at least twodriving wheels 61 controls the mobile equipment to rotate in a firstrotation direction. The travelling apparatus is a power core apparatusof the mobile equipment. When the two driving wheels run at a same speedin a same direction, the mobile equipment moves in straight line. Whenthe two driving wheels operate at a differential speed, the turning ofthe mobile equipment may be achieved. When the two driving wheelsoperate at a same speed in an opposite direction, the pivot steering ofthe mobile equipment may be achieved. To guarantee a driving force ofthe driving wheels, a power apparatus, such as an electric motor may bedisposed inside the travelling apparatus by which the driving wheels areenabled to rotate. Optionally, a rechargeable power source is alsoincluded inside the travelling apparatus for supplying energy to thewhole mobile equipment. To guarantee the whole mobile equipment toreceive a transport instruction, a communication module (such as awireless fidelity (Wi-Fi) communication module) is integrated inside thetravelling apparatus by which the travelling apparatus can receive aninstruction for conveying the article and convey the article to adesigned destination.

As an application scenario, the mobile equipment needs to move on thegrid-type road shown in FIG. 4. Therefore, the travelling apparatus hasan image recognition apparatus that can recognize the roadside. Forexample, the grid-type road is disposed with a two-dimensional code forthe position navigation. The image recognition apparatus on thetravelling apparatus can recognize the two-dimensional code, read aposition marker represented by the two-dimensional code, therebyachieving the navigation function.

The rotation supporting apparatus 7 is located between the articleholding platform 5 and the travelling apparatus 6, and is connected tothe article holding platform 5 and the travelling apparatus 6respectively. The rotation supporting apparatus 7 rotates in a directionopposite to a first rotation direction when the travelling apparatus 6rotates in the first rotation direction. Through configuring suchstructure of the rotation supporting apparatus 7, when the mobileequipment rotates in situ, the article holding platform and the parcelare guaranteed to keep still as long as the rotation supportingapparatus is controlled to rotate at the same speed in an oppositedirection. In this way, during the conveying process of the article bythe mobile equipment, the article keeps moving forward at a fixed angleand position in the grid to avoid the congestion of the article deliveryand reduction of the article delivery efficiency since a larger gridspace is occupied for the rotation of the article.

To guarantee that the article holding platform on the mobile equipmentcan keep stable when the travelling apparatus 6 rotates, in anembodiment, when the travelling apparatus 6 rotates in the firstrotation direction, the rotation supporting apparatus 7 rotates at aconstant speed in a direction opposite to the first rotation direction.A speed sensor is disposed on the travelling apparatus and configured tolearn a rotation speed of the driving wheels 61. A difference betweenthe speeds of the driving wheels 61 is calculated to calculate arotation angular speed caused by the difference. The rotation angularspeed is passed to the rotation supporting apparatus 7 in real time, sothat the rotation supporting apparatus 7 rotates at the constant speedin the direction opposite to the first rotation direction.

The lower the gravity of the mobile equipment is, the better thestability of the mobile equipment is. To guarantee the whole stabilityof the mobile equipment, in an embodiment, the article holding platform5 has a first recess portion, and the rotation supporting apparatus 7 ismounted at the first recess portion of the article holding platform 5.Alternatively, in an embodiment, the travelling apparatus 6 has a secondrecess portion, and the rotation supporting apparatus 7 is mounted atthe second recess portion of the travelling apparatus 6.

In an embodiment, to improve the article delivery efficiency of themobile equipment and reduce the human participation in the conveyingprocess of products, the article holding platform 5 is disposed with anarticle transporting apparatus, which is configured to transport thearticle on the article holding platform 5 to a designed destination. Forexample, when the mobile equipment arrives at an article receivingapparatus (such as a cage trolley), the article transporting apparatuson the article holding platform may be started and the articletransporting apparatus automatically passes the article to betransported by the article transporting apparatus to the designeddestination or container.

To guarantee that the article transporting apparatus may execute thearticle delivery task, the article transporting apparatus may obtainpower from a power source (such as a battery) in the travellingapparatus. The article transporting apparatus may be a common mechanicalstructure apparatus for automatically delivering the article. Forexample, the article transporting apparatus is any one of a conveyerbelt, a roller, a cross belt or a turning panel.

To keep the article stable during the conveying process, the article maybe placed at the central position of the mobile equipment. In oneembodiment, to guarantee that the conveyed article is placed at thecentral position of the mobile equipment, the article holding platform 5is disposed with a sensing apparatus which can measure the position ofthe article on the article holding platform 5. The sensor may be acommon pressure sensor. By measuring pressure data of different positionon the article holding platform 5, different position of the article onthe article holding platform 5 is obtained.

After measuring the position of the article on the article holdingplatform, the position of the article needs to be adjusted timely. In anembodiment, based on position data of the article on the article holdingplatform measured by the sensing apparatus, the article holding platform5 controls the article transporting apparatus to move the article to thecentral position of the article holding platform 5. In addition, acamera may also be added on the mobile equipment, the camera observesthe center of the article and tells the mobile equipment to adjust theposition of the article by a server.

For the mobile equipment, multiple driving wheels 61 may be adopted toconvey the article. However, the more the driving wheels are, the morecomplicate the control system becomes. In an embodiment, the number ofthe driving wheels 61 of the travelling apparatus 6 is two, or may bemore than two.

In a case of two driving wheels 61, the movement direction and therotation direction of the whole mobile equipment can be controlled aslong as the rotation speed and rotation direction of the two drivingwheels are controlled. For example, in an embodiment, the travellingapparatus 6 controls the two driving wheels 61 to run at the same speedin the same direction, so that the mobile equipment moves in thestraight line direction. In another embodiment, the travelling apparatus6 controls the two driving wheels 61 to run at the same speed in theopposite direction, so that the mobile equipment rotates in situ.

When the article is conveyed to a receiving container (such as the cagetrolley) by the mobile equipment, usually the receiving opening of thereceiving container has a different height, and the article holdingplatform of the mobile equipment may not reach this height, in thiscase, the height of the article holding platform needs to beconveniently adjusted. In an embodiment, the rotation supportingapparatus 7 further includes a stretchable supporting rod 71, which cancontrol the height of the article holding platform 5. For example,before arriving at the preset receiving container, the mobile equipmentpreviously obtains the height of the receiving opening of the receivingcontainer. Before the mobile equipment arrives the receiving container,the supporting rod 71 is in a contraction state, and in this case, thegravity of the mobile equipment is low, which facilitates the stabilityin the movement process. When the mobile equipment arrives at thereceiving container, the supporting rod 71 becomes a preset height, andthe article is conveyed to the receiving container by the articletransporting apparatus. After that, the supporting rod 71 becomes thecontraction state again to keep the stability of the mobile equipment.The supporting rod 71 may be a common threaded rotation supporting rod,a common hydraulic supporting rod or a common mechanical structure thatcan perform the stretchable support.

To be able to suit the grid-type transport field shown in FIG. 4, itneeds to be guaranteed that an area of the rotation supporting apparatus7 and the travelling apparatus 6 in a horizontal direction is smallerthan the area of the article holding platform in the horizontaldirection. In this case, the article holding platform can receive aslarge an area as possible and the rotation supporting apparatus 7 andthe travelling apparatus 6 cannot occupy too much area. As one case, aprojection of the travelling apparatus 6 in a vertical direction iswithin the projection of the article holding platform 5 in the verticaldirection. As another case, the projection of the rotation supportingapparatus 7 in the vertical direction is within the projection of thearticle holding platform 5 in the vertical direction. As another case,the projection of the rotation supporting apparatus 7 in the verticaldirection is within the projection of the travelling apparatus 6 in thevertical direction.

The term “one” should be interpreted as “at least one” or “one or more”.That is, the number of an element may be one in an embodiment and thenumber of the element may be above one in another embodiment. The term“one” should not be interpreted to limit the number.

Since an ordinal number such as “first” and “second” is used to describevarious components and the ordinal number is not intended to limit thesecomponents herein. Those terms are only used to distinguish between onecomponent and another component. For example, a first component may bereferred to as a second component, and similarly, the second componentmay be referred to as the first component, without departing from theconcept of the present application. The term “and/or” used hereinincludes any or all combinations of one or more listed associatedarticles.

Terms used herein are only used to describe an embodiment and notintended to limit the present disclosure. As used herein, a singularform is intended to include a plural from, unless clearly indicated inthe context. In addition, it is to be understood that the terms“including” and/or “having” used in the specification are intended tomean the existence of the described features, numbers, steps,operations, components, elements or combinations thereof, withoutexcluding the existence or addition of one or more other features,numbers, steps, operations, components, elements, or combinationsthereof.

What is claimed is:
 1. An article conveying equipment, comprising: acarrying apparatus, configured to carry one or more articles to betransported; a scheduling server, configured to issue height informationof a receiving end of a transferring apparatus corresponding to thearticle conveying equipment; and a lifter, wherein the lifter isconfigured to adjust the height of the carrying apparatus to the heightmatched with the receiving end of the transferring apparatus when thearticle conveying equipment approaches the transferring apparatus;wherein the one or more articles to be transported are provided withdelivery information, the article conveying equipment further comprisesa conveying information acquisition apparatus configured to acquire thedelivery information of the one or more articles to be transported; orthe article conveying equipment is configured to acquire the deliveryinformation of the one or more articles to be transported by inquiringthe scheduling server, the delivery information of one or more articlesto be transported is acquired by the conveying information acquisitionapparatus and transmitted to the scheduling server; wherein thetransferring apparatus is provided with an identity (ID) label, whereinthe ID label is matched with the delivery information of the one or morearticles to be transported; wherein the article conveying equipment isconfigured to acquire the delivery information of the article beingconveyed in a current task, and determine the transferring apparatusmatched with the current task based on the delivery information of thearticle being conveyed in the current task.
 2. The article conveyingequipment according to claim 1, wherein the scheduling server is furtherconfigured to issue travelling information of other article conveyingequipment.
 3. The article conveying equipment according to claim 1,wherein an article transporting apparatus is disposed on the carryingapparatus, and the one or more articles to be transported are located onthe article transporting apparatus, the article transporting apparatusis configured to transport the one or more articles to be transported toa designated destination.
 4. The article conveying equipment accordingto claim 3, wherein the article transporting apparatus comprises any oneof a conveyer belt, a roller, a cross belt and a turning panel.
 5. Thearticle conveying equipment according to claim 1, wherein the articleconveying equipment is configured to acquire electric quantityinformation of the article conveying equipment, and report remainingelectric quantity information to the scheduling server when theremaining electric quantity of the article conveying equipment meets apreset condition.
 6. The article conveying equipment according to claim5, wherein the article conveying equipment is further configured to:receive a charging instruction from the scheduling server, and move,based on the charging instruction, to a preset area to get charged. 7.The article conveying equipment according to claim 1, wherein thearticle conveying equipment is further configured to detect a faultstatus of the article conveying equipment, and report fault informationof the article conveying equipment to the scheduling server.
 8. Thearticle conveying equipment according to claim 1, wherein the articleconveying equipment is configured to determine current geographiclocation information by identifying a two-dimensional code disposed on aroad in which the article conveying equipment moves.